Toshiba STE 58762 instruction manual － 1-6 －

Page 13

STE 58762

(6)Movement reference commands

These commands are used to reference and check the movement of the robot. For example, these commands could be used to determine what percentage of a certain motion has been completed at a certain time. By including these commands in your program, you can set timers and make sure robot motions do not interfere with each other.

These commands are meant to be used in combination with other commands in your program. By skillfully placing such commands in the right places, you can, for example; (1) Get the robot to send out a signal to an external device when the robot has completed 70% of a certain motion. (2)

Should one motion not follow another motion within a certain period of time, have the program branch off to an error loop.

Type

 

Purpose

Commands

Movement control commands

(1)

Move the robot.

MOVE, MOVES, MOVEC,

 

 

 

MOVEA, MOVE1, READY

 

(2)

Temporarily stop the robot.

DELAY

 

(3)

Move the robot hand.

 

OPEN1, OPENI1, OPEN2,

 

 

 

OPENI2, CLOSE1, CLOSEI1,

 

 

 

CLOSE2, CLOSEI2, UP,

 

 

 

DOWN, TURNL, TURNR

 

(4)

Interrupt or restart operation.

BREAK, RESUME, PAUSE

Program control commands

(1)

Monitor external signals,

ON ~ DO ~,

 

 

timers, etc.

IF ~ THEN ~ ELSE,

 

 

 

WAIT, IGNORE

 

(2)

Control program execution.

PROGRAM, GOTO, RCYCLE,

 

 

 

RETURN, FOR ~ NEXT, STOP,

 

 

 

END

 

 

 

TASK, KILL, SWITCH

 

(3)

Make remarks (comments)

REMARK

 

 

to aid in program debugging

 

 

 

and modification.

 

I/O control commands

(1)

Input and output of externa

DIN, DOUT,

 

 

l signals.

PULOUT, RESET,

 

 

 

 

 

 

BCDIN, BCDOUT

 

(2)

Input and output of commu

PRINT, INPUT

 

 

nication data.

 

 

 

 

 

Movement condition

(1)

Specify conditions for

CONFIG, ACCUR, ACCEL,

commands

 

controlling robot movement.

DECEL, SPEED, PASS,

 

 

 

TORQUE, GAIN, ENABLE,

 

 

 

SETGAIN, DISABLE, NOWAIT,

 

 

 

PAYLOAD, FREELOAD,

 

 

 

SWITCH

－ 1-6 －

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Contents STE Industrial Robot SR Series Robot Language Manual－ i － － ii － Preface－ iii － Variables and Constants ・・・・・・・・・・・・・・・・ Table of Contents AN Outline of Robot LanguageRemarks and COMMENTS・・・・・・・・・・・・・・・・・ Things not to do When Programming ・・・・・・・・・ Explanation of Robot CommandsThings to Watch OUT for When Writing a PROGRAM・・ Program Examples Programming Hints and WarningsHOW to Read Symbols ・・・・・・・・・・・・・・・ List of Commands ・・・・・・・・・・・・・・・・・Appendix a Appendix B List of Reserved Words ・・・・・・・・・・・・・Robot Movement Chapter AN Outline of Robot Language－ 1-1 － Robot movement － 1-2 －Robot Language － 1-3 －－ 1-4 － － 1-5 － Types of Commands－ 1-6 － － 1-7 － Chapter Writing Programs in Robot Language Program ConfigurationFiles Program－ 2-2 － Positional Data－ 2-3 － Character SET－ 2-4 － IdentifiersS H I B a R O B O T Scalar Data Variables and Constants－ 2-5 － － 2-6 － － 2-7 － Vector Data－ 2-8 － － 2-9 － － 2-10 － STE System Variables－ 2-11 － System Constants－ 2-12 － Mathematical Functions－ 2-13 － Computational ExpressionsAND, or － 2-14 －－ 2-15 － － 2-16 － － 2-17 － － 2-18 － Logical ExpressionsIf J1 then Goto BRANCH1 Else Goto BRANCH2 － 2-19 － LabelsLOOP1 Move P1 Goto LOOP1 Remarks and Comments Move P1 This Command Moves the Robot to P1－ 2-20 － Remark this Program WAS Written by MEProgram Declaration Programs－ 2-21 － － 2-22 － STE SubprogramsProgram Subexample M1, M2, M3 － 2-23 －Program Main Remark *** Sample Print K END－ 2-24 － Library－ 2-25 － STE Multitask Processing－ 2-26 － － 2-27 － － 2-28 － Global Variable DefinitionGlobal END ProgramDIM D10 AS INT － 2-29 －DIM F5 AS Point

STE 58762 specifications

The Toshiba STE 58762 is a high-performance microcontroller known for its advanced features and robust architecture, making it suitable for a range of applications in automotive, industrial, and consumer electronics. One of the standout characteristics of this microcontroller is its ability to perform complex computations with improved efficiency, thanks to its 16-bit RISC architecture. The RISC (Reduced Instruction Set Computing) design enables faster processing speeds, lower power consumption, and an overall increase in performance.

The STE 58762 integrates a variety of peripherals that enhance its functionality. It includes multiple I/O ports, timers, and an advanced interrupt management system, allowing for seamless interaction with external devices. The integrated analog-to-digital converter (ADC) is particularly noteworthy, enabling the microcontroller to handle real-time data acquisition, essential in applications that require precision and quick response times.

Another significant advantage of the Toshiba STE 58762 is its built-in support for communication protocols, facilitating easy integration into different systems. It supports standard communication interfaces such as UART, SPI, and I2C, which enhance its connectivity with other devices and components. This flexibility makes the microcontroller a versatile choice for designers looking to implement diverse communication methods in their projects.

In terms of memory architecture, the STE 58762 offers an ample amount of ROM and RAM, allowing for sufficient space to store program code and data. This characteristic is crucial for developers who require extensive data handling capabilities in their applications. Furthermore, the microcontroller is equipped with built-in power management features, including sleep and idle modes, that optimize energy consumption during operation.

Overall, the Toshiba STE 58762 microcontroller is characterized by its powerful processing capabilities, extensive peripheral support, and efficient power management. These features make it an excellent choice for demanding applications, providing designers with the tools they need to create innovative and reliable solutions across various industries. As technology continues to evolve, the STE 58762 stands out as a dependable option, ensuring performance and efficiency are met in today’s competitive market. Its reliability and robust features position it as a strong contender in the landscape of microcontroller options available today.
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